WO1993010489A1 - Procede pour commander des servomoteurs - Google Patents

Procede pour commander des servomoteurs Download PDF

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Publication number
WO1993010489A1
WO1993010489A1 PCT/JP1992/001453 JP9201453W WO9310489A1 WO 1993010489 A1 WO1993010489 A1 WO 1993010489A1 JP 9201453 W JP9201453 W JP 9201453W WO 9310489 A1 WO9310489 A1 WO 9310489A1
Authority
WO
WIPO (PCT)
Prior art keywords
control
torque command
gain
speed
value
Prior art date
Application number
PCT/JP1992/001453
Other languages
English (en)
Japanese (ja)
Inventor
Shunsuke Matsubara
Tadashi Okita
Yasusuke Iwashita
Original Assignee
Fanuc Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Ltd filed Critical Fanuc Ltd
Priority to EP92923001A priority Critical patent/EP0566747B1/fr
Priority to DE69211533T priority patent/DE69211533T2/de
Priority to US08/087,749 priority patent/US5374882A/en
Publication of WO1993010489A1 publication Critical patent/WO1993010489A1/fr
Priority to KR1019930702034A priority patent/KR0135308B1/ko

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41024—High gain for low command speed, torque or position error equals or near zero

Definitions

  • the present invention relates to a control method of a servomotor used as a drive source of a machine tool or a robot.
  • the feed shaft of the machine tool, the arm of the robot, and the like are driven by a servomotor, and the servomotor performs speed loop control and position loop control.
  • the gain of the speed loop is always kept constant and set to a value with a certain margin for the gain level that causes mechanical resonance. .
  • Fig. 1 is a block diagram of an example of the servomotor position control system, where 1 is the position control unit and Kp is the position loop gain.
  • 2 is a speed controller, k 1 is integral gain, and k 2 is proportional gain.
  • 3 is a motor and mechanical system.
  • Fig. 4 shows the term for calculating the position g by integrating the velocity.
  • the position error detected by the position detector or the like is subtracted from the position command 0 d to obtain a position deviation, the position deviation is multiplied by the position loop gain K p to obtain a speed command Vd, and the speed command vd is used to calculate the speed. Subtract the actual speed V detected by the detector, etc. to find the speed deviation. Further, the speed deviation is integrated, and a value obtained by multiplying the integrated value by the integral gain kl and a value obtained by multiplying the above-described speed deviation by the proportional gain k2 are added to obtain a torque command (current Directive) Obtain T c. And, based on this torque directive, It is common practice to drive the servomotor overnight by performing a high-speed loop control. In addition, servomotor control is generally performed only with speed loop control without performing position loop control.
  • the above-mentioned gain is limited by the oscillation limit at which mechanical vibration occurs, and the control performance of the servo is also limited by this.
  • An object of the present invention is to provide a control method for a servo and an overnight vehicle that has a high response speed, is resistant to disturbances, and does not cause mechanical trembling, while speeding up convergence of position deviation and speed deviation.
  • the present invention provides a servo motor control in which the speed loop gain is adjusted depending on the magnitude of a torque command output by the speed loop control. ing. In other words, the magnitude of the torque command output by the speed control is detected, and if the detected torque command is large, the gain of the speed loop is adjusted to be low, and the detected torque command is small. If not, adjust the gain of the speed loop to a high value to control.
  • the magnitude of the torque command output by the speed loop control is divided into a plurality of regions in advance, and an adjustment gay is provided for each region.
  • an adjustment gay is provided for each region.
  • a torque command value T el is obtained by performing speed loop control with a set speed loop gain, and the torque command value T el is determined with respect to the obtained torque command value T el.
  • G l + ⁇ I max / (
  • the gain adjustment value (5 may be determined according to the maximum value Imax of the torque command that can be output).
  • control of the above-mentioned servo leader has a position S loop in addition to the speed loop.
  • feed-forward control may be introduced into the loop control.
  • the control of the support motor may be performed by either a digital servo or an analog servo.
  • the gain of the speed control unit is increased to improve the responsiveness, and the position difference and the speed tightness difference are rapidly increased. It can converge.
  • the torque command is large, the occurrence of mechanical resonance is prevented by not increasing the gain of the speed control unit. As a result, fluctuations in speed, overshoot, and undershoot can be reduced, and a servo control method that is resistant to disturbance can be obtained even if the speed command changes significantly.
  • Figure 1 is a block diagram of the servo motor position control system including speed control.
  • FIG. 2 is a block diagram of a speed control unit according to one embodiment of the present invention.
  • FIG. 3 is an explanatory diagram for explaining an adjustment gain required by the gain adjustment block in the embodiment.
  • FIG. 4 is a block diagram of a main part of a sub-motor control of a machine embodying the present invention.
  • Fig. 5 is a flowchart of the processing performed by the mouth sensor of the digital servo circuit in the same embodiment.
  • Figure 6 shows the position deviation when high-speed positioning is performed by the conventional method.
  • FIG. 7 is a diagram showing a state of positional deviation when high-speed positioning is performed under the same conditions as in FIG. 6 by the method of the present invention.
  • Fig. 8 shows the situation when arc cutting is performed by the conventional method
  • FIG. 9 is a view showing a state where arc cutting is performed by the method of the present invention under the same conditions as in FIG.
  • FIG. 2 is a block diagram of an embodiment of the speed control unit according to the present invention.
  • a control unit 2a equivalent to the speed control unit (proportional / integral control) 2 shown in FIG. Block 2b is added, and these two blocks 2a and 2b constitute a speed control unit. That is, the speed deviation (vd-V) is input to the control unit 2a in the same manner as the conventional speed control unit 2, and a proportional / integral control is performed to output a torque command Tel. Then, in the block 2b for gain adjustment, a gain G for adjustment is obtained according to the magnitude of the torque command Tel, and the obtained gain G is multiplied by the torque command Tc1. Then, the torque command Tc2 to the mechanical system is output.
  • the gain required by the above gain adjustment block 2b is In the embodiment, the calculation of the following equation (1) is performed.
  • FIG. 4 is a block diagram of a main part of a servo motor control of a machine according to an embodiment for implementing the servo control method of the present invention.
  • 10 is a control device such as a numerical control device for controlling the machine
  • 11 is It is a shared memory for receiving various commands to the servomotor output from the control device 10 and passing it to the processor of the digital servo circuit 12.
  • 1 2 is digital
  • the servo circuit is composed of a processor, ROM, RAM, etc., and controls the position and speed of the servomotor 14 by the processor.
  • 1 3 is a servo amplifier composed of a transistor, etc.
  • 14 is a servo motor
  • 15 is a rotary servo circuit
  • 14 detects the rotational position and speed of the servo motor.
  • ⁇ The position where the speed is fed back.
  • ⁇ The speed detector.
  • the above configuration is the same as the configuration of a publicly known digital service circuit for controlling a servomotor of a robot machine tool or the like.
  • FIG. 5 is a flowchart of a process performed by the processor of the digital servo circuit 12 at each position / velocity lube processing cycle.
  • the processor of the digital servo circuit 12 reads the movement command sent from the control device 10 via the shared memory 11 and executes the position * speed loop processing cycle in the same manner as in the conventional position loop control. And obtain the position deviation by subtracting the feedback amount of the position output from the position / velocity detector 15 from the movement command 0, and calculate the position gain Kp to this position deviation. Multiply to find the speed command (Step Sl). Next, a speed deviation is obtained by subtracting the speed feedback amount from the position / speed detector 15 from the obtained speed command, and a proportional / integral control is performed similarly to the conventional speed control to obtain a torque.
  • the command T el is obtained (step S 2).
  • step S3 The determined torque command Tc1 and a preset torque From the parameter value (5 and the maximum value of the drive current Imax, the calculation of the above equation (1) is performed to obtain the adjustment gain G (step S3). Then, the obtained gain G is obtained by the step S2.
  • the adjusted torque command Tc2 is obtained by multiplying the obtained torque command Tel, and this torque command Tc2 is delivered to the torrent loop, and the position and speed loop processing of the cycle is completed (step S 4, S5)
  • step S 4 The following steps S1 to S5 are repeated for each S / speed loop processing cycle.
  • the gain G for adjustment is obtained in the step S3, and the obtained gain G is Since the torque command Tc2 for the motor is obtained by multiplying the torque command Tc1 above, when the position deviation and the speed deviation are small and the value of the torque command Tc1 is small, a large adjustment gain is used. Since G is multiplied by the torque command Tc1 to increase the speed loop gain, the position deviation and the speed deviation converge rapidly, and a control system with good responsiveness can be obtained. Also, when the position deviation and the speed deviation are large and the torque command Tc1 is large, the adjusting gain G has a small value. Therefore, the overall speed loop gain does not become exceptionally high, and mechanical resonance occurs. And not.
  • Figures 6 and 7 show the conventional method when a 25.4 mm movement command is issued as a movement command and high-speed positioning is performed (Fig. 6) and the state of the position S deviation by the method according to the present embodiment (FIG. 7) was detected, and in the present embodiment, the experiment was performed by setting the above parameter (5 to I max / 2).
  • the convergence of the position deviation is about 180 msec, and it takes time to position.
  • Fig. 8 shows the cutting shape when the arc cutting with a radius of 10 mm was performed by the conventional method.
  • Fig. 9 shows the cutting shape when cutting was performed by the method of the present invention using the above parameter (5 as the value of ImaxZ2). 8 and 9, the circle indicated by reference numeral 20 indicates the command arc shape, and the reference numeral 21 indicates the cutting arc shape. It can be seen that the cutting accuracy of the method of the present invention is improved in each step.
  • the gain G for adjustment is obtained by performing the calculation of the above equation (1).
  • the gain G for the adjustment is not necessarily obtained by performing the calculation of the above equation (1).
  • the torque command T el output from the conventional speed control unit (control unit 2a) is not large, the torque command T el is small when the torque command T el is large and small when the torque command T el is small.
  • Other ways to make a large adjustment gain G May be.
  • the value of the parameter ⁇ is set to I max /, and eventually, the adjusting gain G is set to the torque command T el (variable) and the maximum value I of the motor driving current by the equation (1).
  • the parameter (the value of 5 does not necessarily have to be I maxZ 2, and it does not have to be a value related to the maximum value I max of the motor drive current.
  • the torque command Tc1 output from the conventional speed control unit (control unit 2a) can be obtained without calculating the adjustment gain G by performing an operation as in equation (1).
  • the size is divided into several areas, an adjustment gain is set for each area, the torque command Tc1 is determined to which area, and the adjustment gain for the corresponding area is determined. G may be obtained.
  • the control of the speed control unit has been described as an example of the proportional / integral control in connection with the control of the servomotor, but the present invention can also be applied to the case of the integral / proportional control. Also, the present invention can be applied when feedforward control is introduced into the loop control. The present invention is also applicable when only speed control is performed without performing position loop control. In short, when the magnitude of the torque command Tel output from the speed control unit is large, it is low, and when it is small, it is high. Therefore, the convergence of the position g deviation and the speed deviation is accelerated, the response is improved, and no mechanical resonance occurs. Even when the speed command changes greatly, the fluctuation or overshoot occurs. Therefore, it is possible to obtain a robust servo control method against disturbance without generating undershoot.
  • the servo motor when the magnitude of the torque command output by the speed control is small, the servo motor is driven by increasing the gain and increasing the torque command. . As a result, the convergence of the position deviation and the speed deviation becomes faster, and the response is improved.
  • the torque command when the torque command is large, the control amount is originally large, so that the gain is not made too high and mechanical resonance does not occur. As a result, the responsiveness is improved, the strength is enhanced against disturbance, and no mechanical resonance is generated. Thus, excellent servo control characteristics are obtained.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Control Of Position Or Direction (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

L'invention se rapporte à un procédé pour commander un servomoteur, destiné à accéler la convergence des écarts de position et de vitesse, qui se caractérise par une excellente réponse et une résistance élevée aux dérangements et qui est exempt de résonance mécanique. Lorsqu'une instruction de couple Tc1, obtenue par une opération de commande de vitesse traditionnelle, commande un niveau de couple faible, le gain de régulation (G) est accru, et, lorsque cette instruction de couple commande un niveau de couple élevé, le gain de régulation (G) est réduit (S1-S3). Un couple Tc2, qu'on obtient en multipliant une instruction Tc1 provenant d'une unité de commande de vitesse par le gain de régulation (G), est utilisé comme instruction de couple devant être fournie à un servomoteur (S4, S5). Lorsque les écarts de position et de vitesse sont faibles et qu'une instruction de couple Tc1 commande un niveau de couple faible, le gain augmente, ce qui accroît la réponse et permet une convergence plus rapide de ces écarts. Lorsqu'une instruction de couple Tc1 commande un niveau de couple élevé, le gain est faible et aucune oscillation mécanique ne se produit.
PCT/JP1992/001453 1991-11-12 1992-11-10 Procede pour commander des servomoteurs WO1993010489A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP92923001A EP0566747B1 (fr) 1991-11-12 1992-11-10 Procede pour commander des servomoteurs
DE69211533T DE69211533T2 (de) 1991-11-12 1992-11-10 Verfahren zur servomotorsteuerung
US08/087,749 US5374882A (en) 1991-11-12 1992-11-10 Method of controlling servomotor
KR1019930702034A KR0135308B1 (ko) 1991-11-12 1993-07-07 서보 모터의 제어방법

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP3322425A JP2820820B2 (ja) 1991-11-12 1991-11-12 サーボモータの制御装置
JP3/322425 1991-11-12

Publications (1)

Publication Number Publication Date
WO1993010489A1 true WO1993010489A1 (fr) 1993-05-27

Family

ID=18143524

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1992/001453 WO1993010489A1 (fr) 1991-11-12 1992-11-10 Procede pour commander des servomoteurs

Country Status (6)

Country Link
US (1) US5374882A (fr)
EP (1) EP0566747B1 (fr)
JP (1) JP2820820B2 (fr)
KR (1) KR0135308B1 (fr)
DE (1) DE69211533T2 (fr)
WO (1) WO1993010489A1 (fr)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5684374A (en) * 1995-07-27 1997-11-04 Allen-Bradley Company, Inc. Method and apparatus for tuning a motion control system having an external velocity loop
JP3628119B2 (ja) * 1996-07-24 2005-03-09 ファナック株式会社 サーボモータの制御方法
US6078114A (en) * 1998-04-08 2000-06-20 Universal Instruments Corporation Method and apparatus for vibration reduction/control in a variable reluctance linear motor
JP3526022B2 (ja) * 2000-03-06 2004-05-10 株式会社安川電機 サーボ制御系の発振臨界検出方法
WO2003085816A1 (fr) * 2002-04-05 2003-10-16 Mitsubishi Denki Kabushiki Kaisha Dispositif de commande de moteur
DE60316250T2 (de) * 2002-08-22 2008-01-03 Nissan Motor Co., Ltd., Yokohama Vorrichtung zur steuerung der öffnung/schliessung eines fahrzeugteiles
JP2008029177A (ja) * 2006-07-25 2008-02-07 Ricoh Co Ltd 半導体装置
JP2015033213A (ja) * 2013-08-02 2015-02-16 パナソニック株式会社 サーボアンプ
JP6961961B2 (ja) * 2017-03-15 2021-11-05 オムロン株式会社 サーボシステム及び、サーボモータ制御のゲイン調整方法

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JPS6054020A (ja) * 1983-09-01 1985-03-28 Mitsubishi Electric Corp 可動体の制御装置
JPS6132121A (ja) * 1984-07-24 1986-02-14 Hitachi Ltd 移動体の位置決め制御機構
JPH01258009A (ja) * 1988-04-07 1989-10-16 Fuji Electric Co Ltd 位置決め制御装置
JPH03210607A (ja) * 1990-01-13 1991-09-13 Fuji Electric Co Ltd アナログサーボ制御装置

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JPS58151885A (ja) * 1982-03-03 1983-09-09 Hitachi Ltd モ−タの位置制御方法
JPS5954020A (ja) * 1982-09-22 1984-03-28 Akai Electric Co Ltd 垂直磁気ヘツド
JPS59189401A (ja) * 1983-04-13 1984-10-27 Fanuc Ltd 位置制御装置
JPS615302A (ja) * 1984-06-19 1986-01-11 Nissan Motor Co Ltd マニピユレ−タの制御装置
JPS62171016A (ja) * 1986-01-23 1987-07-28 Canon Inc 位置決め制御装置
JPS62212802A (ja) * 1986-03-14 1987-09-18 Fanuc Ltd ロボツトア−ムの制御装置
JPS63274385A (ja) * 1987-04-30 1988-11-11 Fanuc Ltd サ−ボモ−タの速度制御装置
JP2770982B2 (ja) * 1989-05-25 1998-07-02 株式会社豊田中央研究所 マニピユレータの位置と力の協調制御装置
JPH03289385A (ja) * 1990-04-03 1991-12-19 Fanuc Ltd モータ制御のゲイン調整方法
US5063335A (en) * 1990-09-11 1991-11-05 Allen-Bradley Company, Inc. Two-input control with independent proportional and integral gains for velocity error and velocity feedforward including velocity command limiting
US5223778A (en) * 1992-09-16 1993-06-29 Allen-Bradley Company, Inc. Automatic tuning apparatus for PID controllers

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6054020A (ja) * 1983-09-01 1985-03-28 Mitsubishi Electric Corp 可動体の制御装置
JPS6132121A (ja) * 1984-07-24 1986-02-14 Hitachi Ltd 移動体の位置決め制御機構
JPH01258009A (ja) * 1988-04-07 1989-10-16 Fuji Electric Co Ltd 位置決め制御装置
JPH03210607A (ja) * 1990-01-13 1991-09-13 Fuji Electric Co Ltd アナログサーボ制御装置

Non-Patent Citations (1)

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Title
See also references of EP0566747A4 *

Also Published As

Publication number Publication date
JP2820820B2 (ja) 1998-11-05
US5374882A (en) 1994-12-20
JPH05134760A (ja) 1993-06-01
EP0566747A4 (fr) 1994-03-09
KR930703637A (ko) 1993-11-30
DE69211533T2 (de) 1996-10-10
DE69211533D1 (de) 1996-07-18
EP0566747A1 (fr) 1993-10-27
KR0135308B1 (ko) 1998-05-15
EP0566747B1 (fr) 1996-06-12

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